LumosRobotics-FastUMIPro/example_data_fastumi_pro_raw

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<h1 style="font-size:44px; font-weight:900; margin-bottom:10px;"> FastUMI Pro – Multimodal Sample Dataset </h1>

<h3 style="font-size:20px; font-weight:400; margin-top:-10px;"> Small-Scale Demonstration Data from the FastUMI Pro Multimodal Sensing System <br>(Only Hundreds of Trajectories — Full Dataset Available Upon Request) </h3>

<div style="display: flex; justify-content: center; gap: 8px; margin: 10px 0;"> <img src="https://img.shields.io/badge/FastUMI-Pro-brightgreen" height="15"/> <img src="https://img.shields.io/badge/Sample%20Dataset-Small-blue" height="15"/> <img src="https://img.shields.io/badge/Multimodal-Vision%20%7C%20Pose%20%7C%20PointCloud-orange" height="15"/> </div>

<img src="https://huggingface.co/datasets/FastUMIPro/exampledatafastumiproraw/resolve/main/4a84995c57de5d63186f923d7a7e06e1.png" alt="FastUMI Pro Hardware System" width="60%" style="border-radius: 10px; box-shadow: 0 4px 8px 0 rgba(0,0,0,0.2);"> <a href="https://fastumi.com/pro/">Project Homepage</a> <br> </div>

📦 FastUMI Data Market

<div style="width: 500px; margin: 10px 0; text-align: left;"> <marquee behavior="alternate" style="color:#ff5500; font-size:24px; font-weight:bold;"> <a href="https://data-market.lumosbot.tech/" target="_blank" rel="noopener noreferrer" style="color:#ff5500; text-decoration:none;"> <blink>🔥FastUMI Data Market is online!(click here).🔥</blink> </a> </marquee> </div>

Link: https://data-market.lumosbot.tech/

📖 Overview

The FastUMI Pro Sample Dataset provides a public preview of the multimodal sensing capabilities of the FastUMI Pro data collection system.

This release contains only dozens of sample trajectories and is intended for:

• —System testing
• —Robotics and AI pipeline integration
• —Preliminary algorithm development
• —Demonstrating multimodal alignment and synchronization

Full-scale datasets are available upon request for research or enterprise collaboration.

<!-- <div style="background-color:#fff8f8; border-left:4px solid #ff6b6b; padding:10px; margin:10px 0;"> ⚠️ <span style="color:#e74c3c;font-weight:bold">Note: The current image has been compressed. The new lossless image data is on its way.</span> </div> -->

📊 Data Specifications

Purpose: The following table is to provide users with an overview of the technical specifications of the dataset.

🧭 Data Formats

All pose data (SLAM, Vive, fused) follow the same structure:

timestamp  x  y  z  qx  qy  qz  qw

Coordinate System

To ensure correct visualization and control, all pose data adheres to the following right-handed coordinate system (World Frame).

• —Origin (0,0,0): Geometric center of the tracking base stations (World Frame).
• —🔴 X-Axis: Points Forward (the primary direction of manipulation).
• —🟢 Y-Axis: Points Right (relative to the workspace).
• —🔵 Z-Axis: Points Upward (opposite to the direction of gravity). <div align="center"> <img src="https://huggingface.co/datasets/FastUMIPro/exampledatafastumiproraw/resolve/main/12025-12-11201019_400.jpg" alt="Coordinate System Visualization" width="50%" style="border-radius: 8px; margin-top: 15px;"> <br> <small><i>Visual reference for the coordinate system.</i></small> </div> <div align="center" style="margin-top: 15px;"> <small><i>Tip: When using simulation environments like ROS or Isaac Gym, ensure your coordinate frame conventions match. You may need to apply a transformation if your framework uses a different "up" axis (e.g., Z-up vs. Y-up).</i></small> </div>

📸 How We Collect Data

We collect data using the FastUMI Pro hardware suite. This system integrates high-frequency sensors to capture comprehensive multimodal interaction data:

• —Visual: Industrial-grade RGB cameras.
• —Spatial: Time-of-Flight depth sensors for dense 3D reconstruction.
• —Haptic/State: Force-sensitive clamp sensors for precise gripper feedback.

📥 Download

huggingface-cli download FastUMIPro/example_data_fastumi_pro_raw \
  --repo-type dataset \
  --local-dir ./fastumi_sample/

Optional:

export HF_ENDPOINT=https://hf-mirror.com

⚠️ Dataset Scale Notice

[!IMPORTANT] This dataset contains only a small number of sample episodes and is not intended for large-scale training. For full multimodal datasets or enterprise collaborations, please contact the FastUMI team.

📦 Data format specifications

multi_sessions_20260109_211139/
└── session_002/
    ├── left_hand_250801DR48FB25002570/
    │   ├── Clamp_Data/
    │   │   └── clamp_data_tum.txt
    │   ├── Merged_Trajectory/
    │   │   └── merged_trajectory.txt
    │   └── RGB_Images/
    │       ├── timestamps.csv
    │       └── video.mp4
    └── right_hand_250801DR48FP25002664/
        ├── Clamp_Data/
        │   └── clamp_data_tum.txt
        ├── Merged_Trajectory/
        │   └── merged_trajectory.txt
        └── RGB_Images/
            ├── timestamps.csv
            └── video.mp4

📞 Contact

Lead: Ding Yan Email: dingyan@lumosbot.tech WeChat: Duke_dingyan